New! View global litigation for patent families

US7031816B2 - Active rollover protection - Google Patents

Active rollover protection Download PDF

Info

Publication number
US7031816B2
US7031816B2 US10806535 US80653504A US7031816B2 US 7031816 B2 US7031816 B2 US 7031816B2 US 10806535 US10806535 US 10806535 US 80653504 A US80653504 A US 80653504A US 7031816 B2 US7031816 B2 US 7031816B2
Authority
US
Grant status
Grant
Patent type
Prior art keywords
vehicle
roll
acceleration
sensor
system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US10806535
Other versions
US20050216154A1 (en )
Inventor
Kurf Stouffer Lehmann
Brian L. Hildebrand
Clinton Schumann
Geoffrey Burke Bauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive Systems Inc
Original Assignee
Continental Teves Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Grant date

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02Control of vehicle driving stability
    • B60W30/04Control of vehicle driving stability related to roll-over prevention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03Overturn, rollover
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/18Roll

Abstract

A system and method protects against rollover in a vehicle by employing an array of linear acceleration sensors. A control module includes, among other things, a model of the vehicle dynamics and a model of the array of sensors. A state vector is estimated based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors. A control signal is generated based on the state vector, and the roll moment of the vehicle is reduced based on the control signal.

Description

FIELD OF THE INVENTION

The present invention relates generally to stability control systems for motor vehicles, and more particularly relates to active rollover protection for such stability control systems.

BACKGROUND OF THE INVENTION

In recent years, much attention has been paid to the reduction of rollover in motor vehicles, especially in larger vehicles such as sport-utility vehicles (SUV's) which have a relatively high center of gravity. These vehicles may experience friction induced rollover conditions, in which the vehicle can rollover in response to friction forces acting on the vehicle tires without striking an obstacle.

Vehicle rollover is caused by exceeding the critical roll angle for a particular vehicle. The roll angle is the function of the suspension of the vehicle, the vehicle's loading condition and other vehicle characteristics and dynamic conditions. Existing rollover protection systems employ some form of a predictive means in an attempt to predict rollover and therefore prevent the same through corrective action such as vehicle braking, engine throttling or steering intervention. For example, many systems employ a roll rate sensor which directly measures the roll rate of the vehicle. Unfortunately, such roll rate sensors are expensive due to their complicated nature. Further, reliance only on the roll rate may result in reduced precision when evaluating rollover tendencies. Accordingly, there exists a need to provide a rollover protection system and method which improves the precision in predicting and protecting against rollover while eliminating the need for a costly roll rate sensor.

BRIEF SUMMARY OF THE INVENTION

One embodiment of the present invention provides a method for protecting against rollover in a vehicle, the method including the steps of providing an array of linear acceleration sensors and providing a control module to utilize the array of sensors. The array of acceleration sensors are positioned at predetermined locations relative to the center of gravity of the vehicle. The control module includes, among other things, a model of the vehicle dynamics and a model of the array of sensors. An acceleration is detected for each sensor in the array. The roll angle of the vehicle is then estimated based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors. The method then generates a control signal based on the roll angle, and reduces the roll moment of the vehicle based on the control signal.

According to more detailed aspects, the method may further comprise the step of estimating a roll rate based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors. Likewise, the method may further estimate the roll acceleration based on the same accelerations and models. Thus, the control signal may be based on both the roll angle and the roll rate, or alternatively the roll angle, the roll rate and the roll acceleration, thereby increasing the precision of the control signal. The step of estimating a roll angle preferably includes estimating a state vector representing the dynamic conditions of the vehicle. The state vector includes a roll angle, a roll rate, a yaw rate and a lateral velocity of the vehicle.

Each acceleration sensor preferably detects a linear acceleration along a sensor axis positioned relative to the vehicle's coordinate net system. The sensor axis of a least one acceleration sensor is preferably not parallel with any of the longitudinal, lateral and vertical axis comprising the coordinate system. At least one acceleration sensor is preferably not aligned with any of the axis of the coordinate system. Preferably, the method includes the step of transforming the detected accelerations from a sensor coordinate system to a body coordinate system for processing by the control module. Finally, the step of reducing the roll moment includes activating an actuator, the actuator being one or more of a brake control system, an engine control unit, and an active steering system.

Another embodiment of the present invention provides a method for protecting against rollover in a motor vehicle, the vehicle defining a longitudinal axis, a lateral axis, and a vertical axis. The method includes the steps of providing an acceleration sensor positioned along the lateral axis of the vehicle. The sensor is spaced a distance from the center of gravity. An acceleration on the vehicle is detected with the sensor, and a roll acceleration of the vehicle is determined from the detected acceleration and the known position of the sensor. The roll acceleration is integrated to determine a roll rate and a roll angle of the vehicle. A control signal is generated based on the roll angle, the roll rate and the roll acceleration, and the roll moment of the vehicle is reduced based on the control signal.

According to more detailed aspects, the sensor detects a linear acceleration along a sensor axis parallel to the vertical axis. A second acceleration sensor may be positioned along the lateral axis of the vehicle and spaced a second distance from the center of gravity. Preferably, the first and second sensors are spaced on opposite sides of the center of gravity. The method may also include the step of filtering out any portion of the detected acceleration that is not representative of the vehicle rotating about its longitudinal axis. The filtering step includes providing a model of the vehicle dynamics and a model of the sensor.

Another embodiment of the present invention provides a system for protecting against rollover in a vehicle. The system includes an array of linear acceleration sensors, a control module and an actuator. The control module includes a signal adjuster, an estimator, a signal generator, a model of the vehicle dynamics and a model of the array of sensors. The sensors are positioned at predetermined locations relative to the center of gravity of the vehicle, each sensor detecting a linear acceleration along its sensor axis. The signal adjuster receives the detected accelerations and transforms them from a sensor coordinate system to a body coordinate system. The estimator receives the transformed accelerations and estimates a roll angle based on the transformed accelerations, the model of the vehicle dynamics, and the model of the array of sensors. The signal generator generates a control signal when the estimated roll angle indicates a tendency of the vehicle to roll over. The actuator receives the control signal and reduces the roll moment of the vehicle based thereon.

According to more detailed aspects, the model of the vehicle dynamics and the model of the array of sensors allows the estimator to solve for and estimate a state vector representing the dynamic condition of the vehicle based on the transformed accelerations. The state vector preferably includes a roll angle, a roll rate, a yaw rate and a lateral loss to the vehicle. Based on the state vector, additional variables may be solved for, including the roll acceleration. Thus, the control signal may be based on the roll angle, the roll rate, and the roll acceleration. Each acceleration sensor detects a linear acceleration along a sensor axis positioned relative to the vehicle's coordinate system. Preferably, the sensor axis of at least one acceleration sensor is not parallel or aligned with any of the longitudinal, lateral and vertical axis forming the vehicle coordinate system. The actuator may be one of a brake control system, an engine control unit and an active steering system.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings incorporated in and forming a part of the specification illustrate several aspects of the present invention, and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic view of an active rollover protection system constructed in accordance with the teachings of the present invention;

FIG. 2 schematically depicts a method for protecting against rollover utilizing the system depicted in FIG. 1; and

FIG. 3 is a perspective view of a vehicle having the acceleration sensors and the active rollover protection system of FIG. 1.

DETAILED DESCRIPTION OF THE INVENTION

Turning now to the figures, FIG. 1 depicts an active rollover protection system 10 constructed in accordance with the teachings of the present invention. The system 10 generally includes an array of acceleration sensors 20, a control module 30, and an actuator 42. The array of sensors 20 detect a set of linear accelerations, which is used by the control module 30 to evaluate the dynamic condition of the vehicle, and in particular the tendency of the vehicle to rollover. If the control module 30 determines there is a tendency of the vehicle to rollover, it sends a signal to the actuator 42, which in turn reduces the rollover moment of the vehicle 70 (FIG. 3) through application of the vehicle brakes or throttling of the engine or by actively controlling the steering of the vehicle.

The array of sensors 20 generally include any number of acceleration sensors such as a A1 22, A2 24, A3 26 up to Ai 28. A simple example of the array of sensors 20 is depicted in FIG. 3. As shown, the vehicle 70 includes a coordinate system comprising a longitudinal axis 74, a lateral axis 76, and a vertical axis 78. Each of the axes extends through a center of gravity 72 of the vehicle. In this special case, a first acceleration sensor 80 is positioned along the lateral axis 76 and spaced a distance away from the center of gravity 72. The acceleration sensor 80 detects a linear acceleration along a sensor axis 82, which is shown parallel to the vertical axis 78. Similarly, a second linear acceleration sensor 84 may be employed. The second acceleration sensor 84 is also positioned along the lateral axis 76, and is oriented to detect accelerations along a sensor axis 86 which is also parallel to the vertical axis 78.

The two acceleration signals can be described by the relationship:
A 2 =A 1 −-r dot×d 12  (1)
where A1 and A2 are the measured values of the linear acceleration, d12 is the distance between the sensors in a plane extending perpendicular to the axis of interest, and r13 dot is the angular acceleration of the vehicle body 70 about the axis of interest. Thus, the angular acceleration (roll acceleration) about the longitudinal axis 74 (the axis of interest) can be determined by solving the equation such that r13 dot=(A2−A1)/d12. When the vehicle 70 is rotating about its longitudinal axis 74 (i.e. rolling) the acceleration sensors 80, 84 will detect accelerations in opposite directions such that, one of the detected accelerations will be negative.

Once the roll acceleration (i.e. the angular acceleration about the longitudinal axis 74) is determined, the acceleration may be integrated to determine the roll rate and the roll angle of the vehicle 70. Based on these values, a control signal can be generated when there is a tendency of the vehicle to roll over, and the actuator 42 (FIG. 1) may take appropriate corrective action.

However, it may not always be possible to mount the acceleration sensors directly along one of the axes 74, 76, 78 or align them in the desired direction. When the sensing devices 22, 24, 26, 28 do not lie in the plane perpendicular to the axis of interest, the measured acceleration values contain biases proportional to the angular rates about other axes. Similarly, when the measurement axes of the sensing devices are not coincident, the measured values contain biases proportional to the angular motion (velocity and acceleration) about other axes. Finally, when the measurement axes of the acceleration sensors 20 are not coincident and not mounted along a body reference axis, the measured accelerations may contain unique gravity biases depending upon the difference in the mounting angle and the angle on which the body may be leaning.

Stated another way, based on the position of an acceleration sensor relative to the center of gravity 72 and the coordinate system 74, 76, 78 of the vehicle 70, and based on the orientation of the sensor axis relative to the coordinate system, the detected linear acceleration of any given sensor may be comprised of different proportions of factors causing such accelerations. For example, the linear acceleration may be comprised of any combination of a yaw acceleration, a pitch acceleration, a roll acceleration, a centripetal acceleration or force due to turning, or a slip acceleration or force due to tire slip. Accordingly, aside from the special case described above, the detected linear accelerations in the array of sensors 20 are likely to represent a variety of different accelerations on the vehicle.

Accordingly, the present invention employs the control module 30 which includes a model of the vehicle dynamics 38 and a model of the sensors 40. With reference to FIG. 1, the detected accelerations from the array of sensors 20 are provided to the control module 30, and more particularly the signal adjuster 32. The signal adjuster 32 transforms the linear accelerations from a sensor coordinate system to the vehicle body coordinate system depicted in FIG. 3. The transformed accelerations are provided to an estimator 34, which is utilized to filter the transformed accelerations to determine the dynamic condition of the vehicle, and in particular a state vector representing the dynamic condition of the vehicle. The state vector generally includes variables for the roll angle, the roll rate, the yaw rate and the lateral velocity of the vehicle.

The specific details and mathematics of the control module 30, and in particular the estimator 34, will not be described herein, but may be found in copending application Ser. No. 10/807,088 filed concurrently with the present application, the disclosure of which is incorporated herein by reference in its entirety. Suffice it to say that the estimator 34 draws from a model of the vehicle dynamics 38 which includes a number of equations to represent the dynamic behavior of the vehicle. Similarly, equations are provided which constitute a model for the sensors 40. Based on detected accelerations from the array of sensors 20 (which are transformed by the signal adjuster 32) the estimator 34 is able to utilize the models 38, 40 to solve for and estimate the state vector of the vehicle. Once the roll rate, yaw rate and lateral velocity of the vehicle are known (i.e. the state vector) additional variables may be solved for utilizing the models 38, 40, such as the roll acceleration. It should also be noted that the estimator 34 may employ a closed loop control system 35 which utilizes the estimate of the state vector and an iterative process to reduce the estimation error to an acceptable level. Further, the array of sensors 20 may also include angular rate sensors which preferably would be mounted offset from the vehicle reference axes, while the model of the sensors 40 would reflect this sensor.

Once the estimator 34 has provided values for the roll angle, roll rate and roll acceleration, the signal generator 36 evaluates those signals for an indication of a tendency of the vehicle to roll over. The signal generator 36 will employ at least the roll angle to generate the control signal 37 which is sent to the actuator 42. However, the signal actuator 36 preferably also utilizes the roll rate, and most preferably utilizes the roll acceleration in generating the control signal. That is, not only will the roll angle of the vehicle be employed, but the rate at which the roll angle is approaching the critical angle, as well as how fast the roll angle is accelerating (or decelerating) towards the critical roll angle may be utilized to determine when there is a tendency of the vehicle to roll over.

Based on the control signal 37, which may indicate a tendency of the vehicle to roll over, the actuator 42 may take corrective action to reduce the roll moment of the vehicle. For example, the actuator 42 may comprise a brake control system such as an active antilock braking system (active ABS) which can be utilized to brake one or more of the vehicle brakes 34 to reduce the roll moment of the vehicle. The actuator 42 may also comprise an engine control unit which would regulate the throttle of the engine 46 in order to reduce speed and the roll moment of the vehicle. Finally, the actuator 42 may comprise an active steering system such as a steer-by-wire system (i.e. where the steering input from the driver are sent electronically to an actuator controlling the direction of the wheels) which can regulate the steering angle 48 to reduce the roll moment of the vehicle.

As touched on above, the active rollover protection system 10 thus executes a process or method 50 for protecting against rollover, as will be described with reference to FIG. 2. The method 50 begins at block 51, and moves to block 52 where the linear accelerations A1, A2, A3 to Ai are detected from the array of sensors 20. The detected accelerations are transformed to the vehicle's body coordinate system by the signal adjuster 32, as indicated at block 54. The estimator 34 then utilizes the transformed accelerations in order to estimate the body state vector, as indicated at block 56. Given the state vector, the signal generator 36 is able to determine whether there is a tendency for the vehicle to roll over, as shown by the decision block 58. If there is no tendency of the vehicle to roll over, the method terminates at block 60. If there is a tendency of the vehicle to roll over, the signal generator 36 will generate a control signal 37, as indicated by block 62. Based on the control signal 37, the actuator 42 will reduce the rollover moment, as shown at block 64 and as previously discussed.

Accordingly, it will be recognized that the present invention provides a system and method for protecting against rollover in a motor vehicle which eliminates the need for costly and complicated roll rate sensors. The array of linear acceleration sensors employed by the present invention are readily available at reasonable costs. One or more of the vehicles' roll angle, roll rate and roll acceleration may be utilized to provide a precise control signal to an actuator to reduce the rollover moment of the vehicle and protect against roll. In a special embodiment of the invention, the roll acceleration may be directly detected and integrated to allow a control signal to be based on roll angle, roll rate, and roll acceleration, improving the precision with which the system and method determine a tendency for rollover and protect against the same.

The foregoing description of various embodiments of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Numerous modifications or variations are possible in light of the above teachings. The embodiments discussed were chosen and described to provide the best illustration of the principles of the invention and its practical application to thereby enable one of ordinary skill in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated. All such modifications and variations are within the scope of the invention as determined by the appended claims when interpreted in accordance with the breadth to which they are fairly, legally, and equitably entitled.

Claims (32)

1. A method for protecting against rollover in a motor vehicle comprising the steps of:
providing an array of linear acceleration sensors at predetermined locations relative to the center of gravity of the vehicle;
providing a control module having a model of the vehicle dynamics and a model of the array of sensors;
detecting an acceleration for each sensor in the array of sensors;
estimating a roll angle of the vehicle based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors;
generating a control signal based on the roll angle; and
reducing the roll moment of the vehicle based on the control signal.
2. The method of claim 1, further comprising the step of estimating a roll rate based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors.
3. The method of claim 2, wherein the control signal is based on both the roll angle and the roll rate.
4. The method of claim 2, further comprising the step of estimating a roll acceleration of the vehicle based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors.
5. The method of claim 4, wherein the control signal is based on the roll angle, the roll rate and the roll acceleration.
6. The method of claim 1, wherein the step of estimating a roll angle includes estimating a state vector representing the dynamic condition of the vehicle based on the detected accelerations, the model of the vehicle dynamics and the model of the sensors.
7. The method of claim 6, wherein the state vector includes a roll angle, a roll rate, a yaw rate and a lateral velocity of the vehicle.
8. The method of claim 6, wherein the control signal is based on the estimated state vector.
9. The method of claim 1, wherein each acceleration sensor detects a linear acceleration along a sensor axis positioned relative to the vehicle's coordinate system, the coordinate system including a longitudinal axis, a lateral axis and a vertical axis of the vehicle.
10. The method of claim 9, wherein the sensor axis of at least one acceleration sensor is not parallel with any of the longitudinal, lateral and vertical axes.
11. The method of claim 9, wherein the location of at least one acceleration sensor is not aligned with any of the longitudinal, lateral and vertical axes.
12. The method of claim 9, further comprising the step of transforming the detected accelerations from a sensor coordinate system to a body coordinate system.
13. The method of claim 1, wherein the step of reducing the roll moment includes activating an actuator, the actuator being one or morn of a brake control system, an engine control unit and an active steering system.
14. The method of claim 1, further comprising the step of providing an angular rate sensor.
15. A method for protecting against rollover in a motor vehicle, the vehicle defining a longitudinal axis, a lateral axis, and a vertical axis, each axis passing through the center of gravity of the vehicle, the method comprising the steps of:
providing an acceleration sensor positioned along the lateral axis of the vehicle, the sensor spaced a distance from the center of gravity;
detecting an acceleration on the vehicle with the sensor;
determining a roll acceleration of the vehicle from the detected acceleration and the known position of the sensor;
integrating the roll acceleration to determine a roll rate and a roll angle of the vehicle;
generating a control signal based on the roll angle, the roll rate and the roll acceleration; and
reducing the roll moment of the vehicle based on the control signal.
16. The method of claim 15, wherein the sensor detects a linear acceleration along a sensor axis parallel to the vertical axis.
17. The method of claim 15, further comprising a second acceleration sensor positioned along the lateral axis of the vehicle, the second sensor spaced a second distance from the center of gravity.
18. The method of claim 17, wherein the sensor and second sensor are spaced on opposite sides of the center of gravity.
19. The method of claim 15, further comprising the step of filtering out any portion of the detected acceleration that is not representative of the vehicle rotating about its longitudinal axis.
20. The method of claim 19, wherein the filtering step includes providing a model of the vehicle dynamics and model of the sensor.
21. The method of claim 15, wherein the step of reducing the roll moment includes activating an actuator, the actuator being one or more of a brake control system, an engine control unit and an active steering system.
22. A system for protecting against rollover in a vehicle comprising:
an array of linear acceleration sensors positioned at predetermined locations relative to the center of gravity of the vehicle, each sensor detecting a linear acceleration along its sensor axis;
a control module having a signal adjuster, an estimator, a signal generator, a model of the vehicle dynamics and a model of the array of sensors;
the signal adjuster receiving the detected accelerations and transforming the accelerations from a sensor coordinate system to a body coordinate system;
the estimator receiving the transformed accelerations and estimating a roll angle based on the transformed accelerations, the model of the vehicle dynamics and the model of the array of sensors;
the signal generator generating a control signal when the roll angle indicates a tendency of the vehicle to rollover; and
an actuator receiving the control signal and reducing the roll moment of the vehicle based thereon.
23. The system of claim 22, wherein the estimator further estimates a roll rate of the vehicle based on the transformed accelerations, the model of the vehicle dynamics, and the model of the array of sensors.
24. The system of claim 23, wherein the signal generator generates a control signal based on both the roll angle and the roll rate.
25. The system of claim 22, wherein the estimator further estimates a roll acceleration of the vehicle based on the transformed accelerations the model of the vehicle dynamics and the model of the sensors.
26. The system of claim 25, wherein the signal generator generates a control signal based on the roll angle, the roll rate and the roll acceleration.
27. The system of claim 22, wherein the estimator estimates a state vector representing the dynamic condition of the vehicle based on the transformed accelerations, the model of the vehicle dynamics and the model of the sensors.
28. The system of claim 27, wherein the state vector includes a roll angle, a roll rate, a yaw rate and a lateral velocity of the vehicle.
29. The system of claim 22, wherein each acceleration sensor detects a linear acceleration along a sensor axis positioned relative to the vehicle's coordinate system, the coordinate system including a longitudinal axis, a lateral axis and a vertical axis of the vehicle.
30. The system of claim 29, wherein the sensor axis of at least one acceleration sensor is not parallel with any of the longitudinal, lateral and vertical axes.
31. The system of claim 29, wherein the location of at least one acceleration sensor is not aligned with any of the longitudinal, lateral and vertical axes.
32. The system of claim 22, wherein the actuator is one of a brake control system, an engine control unit and an active steering system.
US10806535 2004-03-23 2004-03-23 Active rollover protection Active 2024-06-01 US7031816B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US10806535 US7031816B2 (en) 2004-03-23 2004-03-23 Active rollover protection

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10806535 US7031816B2 (en) 2004-03-23 2004-03-23 Active rollover protection
DE200510012458 DE102005012458B4 (en) 2004-03-23 2005-03-18 Method for protecting a motor vehicle against tipping over
JP2005084647A JP4808982B2 (en) 2004-03-23 2005-03-23 Automotive stability control system

Publications (2)

Publication Number Publication Date
US20050216154A1 true US20050216154A1 (en) 2005-09-29
US7031816B2 true US7031816B2 (en) 2006-04-18

Family

ID=34991151

Family Applications (1)

Application Number Title Priority Date Filing Date
US10806535 Active 2024-06-01 US7031816B2 (en) 2004-03-23 2004-03-23 Active rollover protection

Country Status (3)

Country Link
US (1) US7031816B2 (en)
JP (1) JP4808982B2 (en)
DE (1) DE102005012458B4 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050222744A1 (en) * 2004-03-25 2005-10-06 Kunio Sakata Behavior control apparatus and method for a vehicle
US20060180372A1 (en) * 2003-08-22 2006-08-17 Bombardier Recreational Products Inc. Electronic stability system on a three-wheeled vehicle
US20060184300A1 (en) * 2005-02-11 2006-08-17 Schubert Peter J Vehicle rollover detection method based on differential z-axis acceleration
US20060190143A1 (en) * 2005-02-22 2006-08-24 Continental Teves, Inc. System to measure wheel liftoff
US20060267750A1 (en) * 2005-05-26 2006-11-30 Ford Global Technologies, Llc Tire abnormal state monitoring system for an automotive vehicle
US20080312813A1 (en) * 2007-06-15 2008-12-18 Cadec Global, Inc. System and method for predicting vehicle rollover using position tracking
US20090152940A1 (en) * 2003-08-22 2009-06-18 Bombardier Recreational Products Inc. Three-wheel vehicle electronic stability system
US20110082614A1 (en) * 2005-11-02 2011-04-07 Robert Bosch Gmbh Methods and Device for Determining the Roll Angle for Occupant Protection Devices
US9283825B2 (en) 2014-02-25 2016-03-15 Isam Mousa System, method, and apparatus to prevent commercial vehicle rollover

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005021952A1 (en) * 2005-05-12 2006-11-23 Robert Bosch Gmbh Method and apparatus for controlling a drive unit of a vehicle
DE102006030048A1 (en) * 2006-06-29 2008-01-03 Zf Lenksysteme Gmbh Method for increasing the driving stability of a motor vehicle, especially a commercial vehicle, comprises changing the transmission ratio between the steering wheel angle and a steering angle on the steered wheel
JP2008049996A (en) * 2006-07-26 2008-03-06 Tokyo Institute Of Technology Motion controller of vehicle
US8108104B2 (en) * 2006-11-16 2012-01-31 Ford Global Technologies, Llc Tripped rollover mitigation and prevention systems and methods
JP4964047B2 (en) * 2007-07-12 2012-06-27 アルパイン株式会社 Position detection apparatus and a position detection method
DE102008010560B4 (en) * 2008-02-22 2016-09-22 Robert Bosch Gmbh A method and control device for controlling personal protection means for a vehicle
DE102010041967A1 (en) * 2010-10-05 2012-04-05 Zf Friedrichshafen Ag A method for determining an inclination of a vehicle in the driving direction
DE102011004587A1 (en) * 2011-02-23 2012-08-23 Robert Bosch Gmbh Method and device for determining the inclined position of a vehicle

Citations (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5742918A (en) 1996-04-26 1998-04-21 Ford Global Technologies, Inc. Method and apparatus for dynamically compensating a lateral acceleration of a motor vehicle
US5742919A (en) 1996-04-26 1998-04-21 Ford Global Technologies, Inc. Method and apparatus for dynamically determining a lateral velocity of a motor vehicle
US5787375A (en) 1996-04-01 1998-07-28 Ford Global Technologies, Inc. Method for determining steering position of automotive steering mechanism
US5790966A (en) 1996-04-01 1998-08-04 Ford Global Technologies, Inc. Method for determining steering position of automotive steering mechanism
US5809434A (en) 1996-04-26 1998-09-15 Ford Global Technologies, Inc. Method and apparatus for dynamically determically determining an operating state of a motor vehicle
US5852787A (en) 1996-09-03 1998-12-22 Ford Global Technologies, Inc. Vehicle suspension control
US5948027A (en) 1996-09-06 1999-09-07 Ford Global Technologies, Inc. Method for enhancing vehicle stability
US5971503A (en) 1998-02-03 1999-10-26 Ford Global Technologies, Inc. Hydraulic control unit with ambient temperature compensation during fluid pressure delivery
US6122568A (en) 1998-12-22 2000-09-19 Ford Global Technologies, Inc. Method and apparatus for determining the dynamic stability of an automotive vehicle
US6121873A (en) * 1998-05-14 2000-09-19 Toyota Jidosha Kabushiki Kaisha Device for producing electrical signals indicating yaw rate, lateral acceleration and roll rate of vehicle body
US6158274A (en) 1996-01-21 2000-12-12 Continental Teves Ag & Co. Ohg Method of determining quantities describing vehicle travel behavior
US6169939B1 (en) 1998-09-08 2001-01-02 Ford Global Technologies, Inc. Method of generating a vehicle lateral acceleration signal for use in an active tilt control system
US6220095B1 (en) 1996-08-19 2001-04-24 Continental Teves Ag & Co., Ohg Sensor for measuring yaw, pitch or roll movements
US6233505B1 (en) 1996-05-02 2001-05-15 Continental Teves Ag & Co., Ohg Process for determining ideal vehicular performance
US6249721B1 (en) 1996-05-28 2001-06-19 Continental Teves Ag & Co. Ohg Arrangement for detecting and evaluating yawing movements
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6282474B1 (en) 2000-06-04 2001-08-28 Ford Global Technologies, Inc. Method and apparatus for detecting rollover of an automotive vehicle
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6327526B1 (en) 2000-08-02 2001-12-04 Ford Global Technologies, Inc. Method and apparatus for measuring the rollover resistance and compliance characteristics of a vehicle
US6330496B1 (en) 1996-06-21 2001-12-11 Continental Teves Ag & Co., Ohg Method for adjusting the driving performance of a motor vehicle using tire sensors
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
US6347541B1 (en) 1998-06-29 2002-02-19 Continental Teves, Inc. Two-point calibration of a longitudinal acceleration sensor
US6351694B1 (en) 2001-01-16 2002-02-26 Ford Global Technologies, Inc. Method for robust estimation of road bank angle
US6353777B1 (en) 2000-08-16 2002-03-05 Ford Global Technologies, Inc. Path correction for lane change analysis
US6356188B1 (en) 2000-09-25 2002-03-12 Ford Global Technologies, Inc. Wheel lift identification for an automotive vehicle
US6366844B1 (en) 1997-12-16 2002-04-02 Continental Teves Ag & Co., Ohg Method and device for limiting transversal acceleration in a motor vehicle
US6364435B1 (en) 1997-08-04 2002-04-02 Continental Teves Ag & Co., Ohg Method and device for regulating the driving stability of a vehicle
US6374163B1 (en) 2001-03-30 2002-04-16 Continental Teves, Inc. Online frequency analysis for resource optimized systems
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
US6409286B1 (en) 1997-12-30 2002-06-25 Continential Teves Ag & Co. Ohg Method and braking system for regulating the driving stability of a motor vehicle
US6424907B1 (en) 1998-07-17 2002-07-23 Continental Teves Ag & Co., Ohg Method and device for determining and detecting the overturning hazard of a vehicle
US6434451B1 (en) 1998-03-18 2002-08-13 Continental Teves Ag & Co., Ohg Motion sensor for a motor vehicle
US6435626B1 (en) 2000-12-05 2002-08-20 Continential Teves, Inc. Steering and braking stability program
US6438464B1 (en) 1998-07-16 2002-08-20 Continental Teves Ag & Co., Ohg Method and device for detecting the overturning hazard of a motor vehicle
US20020139599A1 (en) 2001-02-21 2002-10-03 Jianbo Lu Rollover stability control for an automotive vehicle using rear wheel steering and brake control
US6471218B1 (en) 1998-08-22 2002-10-29 Land Rover Group Limited Vehicle suspensions
US6477480B1 (en) 2000-11-15 2002-11-05 Ford Global Technologies, Inc. Method and apparatus for determining lateral velocity of a vehicle
US6526334B1 (en) 1996-06-13 2003-02-25 Continental Teves Ag & Co., Ohg Method of controlling vehicle handling
US6526342B1 (en) 1998-10-16 2003-02-25 Land Rover Vehicle suspensions
US20030055549A1 (en) * 2001-08-29 2003-03-20 Barta David John Vehicle rollover detection and mitigation using rollover index
US20030065430A1 (en) 2001-10-01 2003-04-03 Jianbo Lu Attitude sensing system for an automotive vehicle
US6554293B1 (en) 1997-12-16 2003-04-29 Continental Teves Ag & Co., Ohg Method for improving tilt stability in a motor vehicle
US6556908B1 (en) 2002-03-04 2003-04-29 Ford Global Technologies, Inc. Attitude sensing system for an automotive vehicle relative to the road
US20030100979A1 (en) 2001-11-21 2003-05-29 Jianbo Lu Enhanced system for yaw stability control system to include roll stability control function
US20030130775A1 (en) 2002-01-08 2003-07-10 Jianbo Lu Vehicle side slip angle estimation using dynamic blending and considering vehicle attitude information
US20030130778A1 (en) 2002-01-07 2003-07-10 Hrovat Davorin David Method for road grade/vehicle pitch estimation
US6614343B1 (en) 1997-10-10 2003-09-02 Continental Teves Ag & Co., Ohg Method for determining vehicle status variables
US6654671B2 (en) * 2002-02-15 2003-11-25 Delphi Technologies, Inc. Vehicle rollover detection having variable sensitivity
US6684140B2 (en) * 2002-06-19 2004-01-27 Ford Global Technologies, Llc System for sensing vehicle global and relative attitudes using suspension height sensors
US20040046447A1 (en) 2000-11-03 2004-03-11 Peter Wanke Method for regulating the driving stability of a vehicle
US20040215384A1 (en) 2001-06-13 2004-10-28 Martin Kummel Method for controlling driving stability
US20050004738A1 (en) 2001-06-28 2005-01-06 Ralph Gronau Method for modifying a driving stability control of a vehicle

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6270766A (en) * 1985-09-25 1987-04-01 Nissan Motor Co Ltd Apparatus for detecting rocking motion of vehicle
DE19609176A1 (en) * 1996-03-11 1997-09-18 Bosch Gmbh Robert Method and arrangement for detecting a vehicle rollover
DE19632363C1 (en) * 1996-08-10 1998-01-15 Telefunken Microelectron Method of detecting angular acceleration of motor vehicles
US6301536B1 (en) * 1999-11-18 2001-10-09 Visteon Global Technologies, Inc. Method and apparatus for detecting a vehicle rollover
DE10044567B4 (en) * 2000-09-08 2006-05-18 Audi Ag Security system for a motor vehicle
JP3992936B2 (en) * 2001-03-22 2007-10-17 日産ディーゼル工業株式会社 Rollover prevention device for a vehicle
DE10149112B4 (en) * 2001-10-05 2004-11-25 Robert Bosch Gmbh Method for determining a triggering decision for restraint means in a vehicle
US6941205B2 (en) * 2002-08-01 2005-09-06 Ford Global Technologies, Llc. System and method for deteching roll rate sensor fault
DE10239406A1 (en) * 2002-08-28 2004-03-11 Robert Bosch Gmbh Means for detecting a vehicle rollover
DE10360728A1 (en) * 2003-12-23 2005-07-21 Daimlerchrysler Ag Method and device for determining a vehicle state

Patent Citations (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6158274A (en) 1996-01-21 2000-12-12 Continental Teves Ag & Co. Ohg Method of determining quantities describing vehicle travel behavior
US5787375A (en) 1996-04-01 1998-07-28 Ford Global Technologies, Inc. Method for determining steering position of automotive steering mechanism
US5790966A (en) 1996-04-01 1998-08-04 Ford Global Technologies, Inc. Method for determining steering position of automotive steering mechanism
US5742919A (en) 1996-04-26 1998-04-21 Ford Global Technologies, Inc. Method and apparatus for dynamically determining a lateral velocity of a motor vehicle
US5809434A (en) 1996-04-26 1998-09-15 Ford Global Technologies, Inc. Method and apparatus for dynamically determically determining an operating state of a motor vehicle
US5742918A (en) 1996-04-26 1998-04-21 Ford Global Technologies, Inc. Method and apparatus for dynamically compensating a lateral acceleration of a motor vehicle
US6233505B1 (en) 1996-05-02 2001-05-15 Continental Teves Ag & Co., Ohg Process for determining ideal vehicular performance
US6249721B1 (en) 1996-05-28 2001-06-19 Continental Teves Ag & Co. Ohg Arrangement for detecting and evaluating yawing movements
US6526334B1 (en) 1996-06-13 2003-02-25 Continental Teves Ag & Co., Ohg Method of controlling vehicle handling
US6330496B1 (en) 1996-06-21 2001-12-11 Continental Teves Ag & Co., Ohg Method for adjusting the driving performance of a motor vehicle using tire sensors
US6220095B1 (en) 1996-08-19 2001-04-24 Continental Teves Ag & Co., Ohg Sensor for measuring yaw, pitch or roll movements
US5852787A (en) 1996-09-03 1998-12-22 Ford Global Technologies, Inc. Vehicle suspension control
US5948027A (en) 1996-09-06 1999-09-07 Ford Global Technologies, Inc. Method for enhancing vehicle stability
US6364435B1 (en) 1997-08-04 2002-04-02 Continental Teves Ag & Co., Ohg Method and device for regulating the driving stability of a vehicle
US6614343B1 (en) 1997-10-10 2003-09-02 Continental Teves Ag & Co., Ohg Method for determining vehicle status variables
US6366844B1 (en) 1997-12-16 2002-04-02 Continental Teves Ag & Co., Ohg Method and device for limiting transversal acceleration in a motor vehicle
US6554293B1 (en) 1997-12-16 2003-04-29 Continental Teves Ag & Co., Ohg Method for improving tilt stability in a motor vehicle
US6409286B1 (en) 1997-12-30 2002-06-25 Continential Teves Ag & Co. Ohg Method and braking system for regulating the driving stability of a motor vehicle
US5971503A (en) 1998-02-03 1999-10-26 Ford Global Technologies, Inc. Hydraulic control unit with ambient temperature compensation during fluid pressure delivery
US6434451B1 (en) 1998-03-18 2002-08-13 Continental Teves Ag & Co., Ohg Motion sensor for a motor vehicle
US6121873A (en) * 1998-05-14 2000-09-19 Toyota Jidosha Kabushiki Kaisha Device for producing electrical signals indicating yaw rate, lateral acceleration and roll rate of vehicle body
US6347541B1 (en) 1998-06-29 2002-02-19 Continental Teves, Inc. Two-point calibration of a longitudinal acceleration sensor
US6438464B1 (en) 1998-07-16 2002-08-20 Continental Teves Ag & Co., Ohg Method and device for detecting the overturning hazard of a motor vehicle
US6424907B1 (en) 1998-07-17 2002-07-23 Continental Teves Ag & Co., Ohg Method and device for determining and detecting the overturning hazard of a vehicle
US6471218B1 (en) 1998-08-22 2002-10-29 Land Rover Group Limited Vehicle suspensions
US6169939B1 (en) 1998-09-08 2001-01-02 Ford Global Technologies, Inc. Method of generating a vehicle lateral acceleration signal for use in an active tilt control system
US6526342B1 (en) 1998-10-16 2003-02-25 Land Rover Vehicle suspensions
US6122568A (en) 1998-12-22 2000-09-19 Ford Global Technologies, Inc. Method and apparatus for determining the dynamic stability of an automotive vehicle
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6338012B2 (en) 1999-12-21 2002-01-08 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
US6496758B2 (en) 1999-12-21 2002-12-17 Ford Global Technologies, Inc. Rollover stability control for an automotive vehicle using front wheel actuators
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6529803B2 (en) 1999-12-21 2003-03-04 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle having rear wheel steering
US6282474B1 (en) 2000-06-04 2001-08-28 Ford Global Technologies, Inc. Method and apparatus for detecting rollover of an automotive vehicle
US6327526B1 (en) 2000-08-02 2001-12-04 Ford Global Technologies, Inc. Method and apparatus for measuring the rollover resistance and compliance characteristics of a vehicle
US6353777B1 (en) 2000-08-16 2002-03-05 Ford Global Technologies, Inc. Path correction for lane change analysis
US6356188B1 (en) 2000-09-25 2002-03-12 Ford Global Technologies, Inc. Wheel lift identification for an automotive vehicle
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
US6593849B2 (en) 2000-09-25 2003-07-15 Ford Global Technologies, Llc Wheel lift identification for an automotive vehicle
US20040046447A1 (en) 2000-11-03 2004-03-11 Peter Wanke Method for regulating the driving stability of a vehicle
US6477480B1 (en) 2000-11-15 2002-11-05 Ford Global Technologies, Inc. Method and apparatus for determining lateral velocity of a vehicle
US6435626B1 (en) 2000-12-05 2002-08-20 Continential Teves, Inc. Steering and braking stability program
US6351694B1 (en) 2001-01-16 2002-02-26 Ford Global Technologies, Inc. Method for robust estimation of road bank angle
US20020139599A1 (en) 2001-02-21 2002-10-03 Jianbo Lu Rollover stability control for an automotive vehicle using rear wheel steering and brake control
US6374163B1 (en) 2001-03-30 2002-04-16 Continental Teves, Inc. Online frequency analysis for resource optimized systems
US20040215384A1 (en) 2001-06-13 2004-10-28 Martin Kummel Method for controlling driving stability
US20050004738A1 (en) 2001-06-28 2005-01-06 Ralph Gronau Method for modifying a driving stability control of a vehicle
US20030055549A1 (en) * 2001-08-29 2003-03-20 Barta David John Vehicle rollover detection and mitigation using rollover index
US6631317B2 (en) 2001-10-01 2003-10-07 Ford Global Technologies, Inc. Attitude sensing system for an automotive vehicle
US20030065430A1 (en) 2001-10-01 2003-04-03 Jianbo Lu Attitude sensing system for an automotive vehicle
US20030100979A1 (en) 2001-11-21 2003-05-29 Jianbo Lu Enhanced system for yaw stability control system to include roll stability control function
US6654674B2 (en) 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function
US20030130778A1 (en) 2002-01-07 2003-07-10 Hrovat Davorin David Method for road grade/vehicle pitch estimation
US20030130775A1 (en) 2002-01-08 2003-07-10 Jianbo Lu Vehicle side slip angle estimation using dynamic blending and considering vehicle attitude information
US6671595B2 (en) 2002-01-08 2003-12-30 Ford Global Technologies, Llc Vehicle side slip angle estimation using dynamic blending and considering vehicle attitude information
US6654671B2 (en) * 2002-02-15 2003-11-25 Delphi Technologies, Inc. Vehicle rollover detection having variable sensitivity
US6556908B1 (en) 2002-03-04 2003-04-29 Ford Global Technologies, Inc. Attitude sensing system for an automotive vehicle relative to the road
US6684140B2 (en) * 2002-06-19 2004-01-27 Ford Global Technologies, Llc System for sensing vehicle global and relative attitudes using suspension height sensors

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
English Abstract and (3) Sheets Drawings from WO 01/12483 A1; Published Feb. 22, 2001; Title: "Method and Device For Measuring Status Variables of a Vehicle".

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090152940A1 (en) * 2003-08-22 2009-06-18 Bombardier Recreational Products Inc. Three-wheel vehicle electronic stability system
US20060180372A1 (en) * 2003-08-22 2006-08-17 Bombardier Recreational Products Inc. Electronic stability system on a three-wheeled vehicle
US20050222744A1 (en) * 2004-03-25 2005-10-06 Kunio Sakata Behavior control apparatus and method for a vehicle
US20060184300A1 (en) * 2005-02-11 2006-08-17 Schubert Peter J Vehicle rollover detection method based on differential z-axis acceleration
US20060190143A1 (en) * 2005-02-22 2006-08-24 Continental Teves, Inc. System to measure wheel liftoff
US7557697B2 (en) * 2005-02-22 2009-07-07 Continental Teves, Inc. System to measure wheel liftoff
US20060267750A1 (en) * 2005-05-26 2006-11-30 Ford Global Technologies, Llc Tire abnormal state monitoring system for an automotive vehicle
US20110082614A1 (en) * 2005-11-02 2011-04-07 Robert Bosch Gmbh Methods and Device for Determining the Roll Angle for Occupant Protection Devices
US8185271B2 (en) * 2005-11-02 2012-05-22 Robert Bosch Gmbh Methods and device for determining the roll angle for occupant protection devices
US20080312813A1 (en) * 2007-06-15 2008-12-18 Cadec Global, Inc. System and method for predicting vehicle rollover using position tracking
US8560217B2 (en) * 2007-06-15 2013-10-15 Cadec Global, Inc. System and method for predicting vehicle rollover using position tracking
US9283825B2 (en) 2014-02-25 2016-03-15 Isam Mousa System, method, and apparatus to prevent commercial vehicle rollover

Also Published As

Publication number Publication date Type
US20050216154A1 (en) 2005-09-29 application
DE102005012458B4 (en) 2015-05-21 grant
DE102005012458A1 (en) 2005-11-03 application
JP2005271915A (en) 2005-10-06 application
JP4808982B2 (en) 2011-11-02 grant

Similar Documents

Publication Publication Date Title
US6954140B2 (en) Method and apparatus for vehicle rollover prediction and prevention
US6141604A (en) Method and arrangement for detecting a vehicle roll-over
US6122568A (en) Method and apparatus for determining the dynamic stability of an automotive vehicle
Tseng et al. The development of vehicle stability control at Ford
US6338012B2 (en) Roll over stability control for an automotive vehicle
US6856868B1 (en) Kinetic energy density rollover detective sensing algorithm
US8165770B2 (en) Trailer oscillation detection and compensation method for a vehicle and trailer combination
US6671595B2 (en) Vehicle side slip angle estimation using dynamic blending and considering vehicle attitude information
US20050200088A1 (en) Vehicle stability control system
US5878357A (en) Method and apparatus for vehicle yaw rate estimation
US7451033B2 (en) Lateral and longitudinal velocity determination for an automotive vehicle
US6351694B1 (en) Method for robust estimation of road bank angle
US6782315B2 (en) Method and apparatus for compensating misalignments of a sensor system used in a vehicle dynamic control system
US6904350B2 (en) System for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control
US6816804B1 (en) System and method for estimating velocity using reliability indexed sensor fusion
US6169946B1 (en) Device and method for controlling accident protection triggering devices in motor vehicles
US20110087398A1 (en) Gps based pitch sensing for an integrated stability control system
US20040010383A1 (en) Passive wheel lift identification for an automotive vehicle using operating input torque to wheel
US20040064246A1 (en) Wheel lift identification for an automotive vehicle using passive and active detection
US20050080543A1 (en) Integrated sensing system
US20040019418A1 (en) Wheel lifted and grounded identification for an automotive vehicle
US20040254707A1 (en) System for determining vehicular relative roll angle during a potential rollover event
US20040181329A1 (en) System and method for detecting roll rate sensor fault
US6684140B2 (en) System for sensing vehicle global and relative attitudes using suspension height sensors
US6829524B2 (en) Method and apparatus for estimating yaw rate in a wheeled vehicle and stability system

Legal Events

Date Code Title Description
AS Assignment

Owner name: CONTINENTAL TEVES, INC., MICHIGAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:LEHMANN, KURT STOUFFER;HILDEBRAND, BRIAN L.;SCHUMANN, CLINTON;AND OTHERS;REEL/FRAME:015210/0420;SIGNING DATES FROM 20040309 TO 20040322

CC Certificate of correction
FPAY Fee payment

Year of fee payment: 4

FPAY Fee payment

Year of fee payment: 8

AS Assignment

Owner name: CONTINENTAL AUTOMOTIVE SYSTEMS, INC., MICHIGAN

Free format text: MERGER;ASSIGNORS:CONTINENTAL TEVES, INC.;TEMIC AUTOMOTIVE OF NORTH AMERICA, INC.;REEL/FRAME:033176/0315

Effective date: 20091210

MAFP

Free format text: PAYMENT OF MAINTENANCE FEE, 12TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1553)

Year of fee payment: 12